from launch import LaunchDescription
from launch_ros.actions import Node
# ---|封装终端指令相关类
from launch.actions import ExecuteProcess
# from launch.substitutions import FindExecutable
# ---|参数声明与获取
# from launch.actions import DeclareLaunchArgument
# from launch.substitutions import LaunchConfiguration
# ---|文件包含相关
# from launch.actions import IncludeLaunchDescription
# from launch.launch_description_sources import PythonLaunchDescriptionSource
# ---|分组相关
# from launch_ros.actions import PushRosNamespace
# from launch.actions import GroupAction
# ---|事件相关
# from launch.event_handlers import OnProcessStart, OnProcessExit
# from launch.actions import ExecuteProcess, RegisterEventHandler,LogInfo
# ---|获取功能包下 share 目录路径
# from ament_index_python.packages import get_package_share_directory

def generate_launch_description():
    
    # lis = Node(
    #     package="ros_to_stm32",
    #     executable="lis",
    #     respawn=True,
    #     name="LIS"
    # )
    
    # talker = Node(
    #     package="ros_to_stm32",
    #     executable="talker",
    #     respawn=True,
    #     name="TALKER"       
    # )
    talker = ExecuteProcess(
        cmd=["ros2 run ros_to_stm32 talker"],
        output="both",
        shell=True
    )
    lis = ExecuteProcess(
        cmd=["ros2 run ros_to_stm32 lis"],
        shell=True
    )
    
    return LaunchDescription([talker,lis])